CN102681477A - System and method for controlling high-speed counting of multiple AB phases of PLC (programmable logic controller) - Google Patents
System and method for controlling high-speed counting of multiple AB phases of PLC (programmable logic controller) Download PDFInfo
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- CN102681477A CN102681477A CN2012100615613A CN201210061561A CN102681477A CN 102681477 A CN102681477 A CN 102681477A CN 2012100615613 A CN2012100615613 A CN 2012100615613A CN 201210061561 A CN201210061561 A CN 201210061561A CN 102681477 A CN102681477 A CN 102681477A
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Abstract
The invention relates to a system and method for controlling the high-speed counting of multiple AB phases of a PLC (programmable logic controller). The system comprises a micro control unit and a FPGA; the micro control unit is provided with a plurality of AB-phase counters; the FPGA is internally provided with a plurality of mapping counters which correspond to the AB-phase counters respectively; the micro control unit is used for initializing the AB-phase counters and enabling the mapping counters which correspond to the AB-phase counters in the FPGA when initializing the AB-phase counters; each mapping counter is used for counting one of the multiple AB-phase pulse signals; and the micro control unit acquires the current count values as multiple AB-phase count values of the plurality of mapping counters in a way of stopping regularly. The method for controlling the high-speed counting of multiple AB phases of the PLC is easy, occupies less resources, can realize the counting of multiple AB phases and breaks through the limit on the counting of at most two AB phases of the common PLC.
Description
Technical field
The present invention relates to PLC counting field, more particularly, relate to a kind of control system and method for PLC multi-channel A B phase high-speed counting.
Background technology
PLC (programmable logic controller (PLC)) generally has counter function, according to counting mode, is divided into common and high-speed counter.High-speed counting generally is divided into single-phase single counting, single-phase double-counting is counted with AB mutually, and wherein, AB counts mutually and is widely used in the motion control aspect, such as the occasions such as measurement of position feedback, displacement and the anglec of rotation of motor.Along with the growth of industrial automation application demand and the expansion of application scenario, counting properties, stability and the ease for use of the AB phase high-speed counting of PLC are had higher requirement.At present; The realization of the AB phase method of counting of PLC and control mode are comparatively complicated; The way of counting was no more than 2 the tunnel when PLC AB was identical, was inappropriate for the occasion that needs the control multiaxis in the actual production application, therefore demanded developing the comparatively simple PLC multi-channel A B method of counting of a kind of control mode urgently.
Summary of the invention
The technical matters that the present invention will solve is, the way of counting mutually to the AB of existing PLC can not satisfy the occasion of multiaxis, and a kind of control system and method for PLC multi-channel A B phase high-speed counting is provided.
The technical solution adopted for the present invention to solve the technical problems is: the control system of constructing a kind of PLC multi-channel A B phase high-speed counting; Comprise micro-control unit and FPGA; Said micro-control unit has a plurality of AB phase counters, be provided with among the said FPGA with said micro-control unit in a plurality of AB a plurality of one to one mapping counters of counter mutually;
Said micro-control unit is to the initialization of AB phase counter; And when the initialization of AB phase counter, enable among the FPGA corresponding with it mapping counter; Each mapping counter is counted a road in the multi-channel A B phase pulse signal, and the current count value that the mode that said micro-control unit employing is regularly interrupted is obtained said a plurality of mapping counters is as multi-channel A B phase count value.
In the control system according to PLC multi-channel A B phase high-speed counting of the present invention, said micro-control unit also comprises the interrupt management module, and said FPGA also comprises comparison module, two-port RAM and interrupt module;
Wherein said two-port RAM connects the micro-control unit of PLC and the comparison module of FPGA respectively; Include a plurality of comparand registers in the said two-port RAM; Corresponding AB phase counter of each comparand register and mapping counter, said two-port RAM is according to the setting value setting of each road AB phase counter in the PLC program of the said micro-control unit storage value of corresponding comparand register with it; The circulation of said comparison module is read the value of each comparand register and is compared and judge whether count value reaches the value of comparand register with count value in the corresponding mapping counter from said two-port RAM;
Said interrupt module is used for interrupting enabling being provided with according to the interrupt table of interrupt management module creation, and accomplishes the interrupt management module of look-at-me to the micro-control unit of said PLC according to the comparative result output counting that said interruption enables to be provided with said comparison module.
In the control system according to PLC multi-channel A B phase high-speed counting of the present invention, said micro-control unit also comprises the Event triggered module, and the counting that is used for receiving according to said interrupt management module is accomplished look-at-me and triggered predeterminable event.
The present invention also provides a kind of control method of PLC multi-channel A B phase high-speed counting; Wherein said PLC comprises micro-control unit and FPGA; Said micro-control unit has a plurality of AB phase counters, said FPGA be provided with said micro-control unit in a plurality of AB a plurality of one to one mapping counters of counter mutually; Said method comprising the steps of:
A) said micro-control unit carries out initialization to AB phase counter and enables mapping counter corresponding with it among the FPGA;
B) each mapping counter is counted a road in the multi-channel A B phase pulse signal, obtains count value;
C) said micro-control unit adopts current count value that the mode of regularly interrupting obtains said a plurality of mapping counters as multi-channel A B phase count value.
In the control method according to PLC multi-channel A B phase high-speed counting of the present invention, said micro-control unit also comprises the interrupt management module, and said FPGA also comprises comparison module, dual-port block RAM and interrupt module; Wherein said dual-port block RAM connects the micro-control unit of PLC and the comparison module of FPGA respectively; Include a plurality of comparand registers in the said two-port RAM, corresponding AB phase counter of each comparand register and mapping counter;
Also comprise in the said step a): said two-port RAM is according to the setting value setting of AB phase counter in the PLC program of the said micro-control unit storage value of corresponding comparand register with it, and said interrupt module interrupts enabling being provided with according to the interrupt table of interrupt management module creation;
Also comprise in the said step b): the circulation of said comparison module is read the value of each comparand register and is compared and judge whether count value reaches the value of comparand register with count value in the corresponding mapping counter from said two-port RAM;
Also comprise in the said step c): said interrupt module is accomplished the interrupt management module of look-at-me to the micro-control unit of said PLC according to the comparative result output counting that said interruption enables to be provided with said comparison module.
In control method according to PLC multi-channel A B phase high-speed counting of the present invention; Said micro-control unit also comprises the Event triggered module, and said method comprises that also the Event triggered module is according to step C) described in the counting that receives of interrupt management module accomplish look-at-me and trigger predeterminable event.
The control system and the method for the PLC multi-channel A B phase high-speed counting of embodiment of the present invention have following beneficial effect: the present invention realizes the initialization of FPGA and obtaining of count value through being counted by FPGA by micro-control unit; Control method of the present invention is simple, and it is few to take resource, can realize the counting of multi-channel A B phase effectively; Even can reach tens the tunnel; Broken through the restriction that no more than 2 road AB of general PLC count mutually, and to the not restriction of total count frequency, counting mode and implementation are simple and reliable; Have excellent counting properties and good counting stability, fully satisfied the requirement of multiaxis control in the practical application.
Description of drawings
To combine accompanying drawing and embodiment that the present invention is described further below, in the accompanying drawing:
Fig. 1 is the module frame chart according to first embodiment of the control system of PLC multi-channel A B phase high-speed counting of the present invention;
Fig. 2 is the module frame chart according to second embodiment of the control system of PLC multi-channel A B phase high-speed counting of the present invention;
Fig. 3 is the process flow diagram according to first embodiment of the control method of PLC multi-channel A B phase high-speed counting of the present invention.
Embodiment
In order to make the object of the invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with accompanying drawing and embodiment.
See also Fig. 1, be the module frame chart of first embodiment of the control system of PLC multi-channel A B phase high-speed counting according to the present invention.As shown in Figure 1, the control system of the PLC multi-channel A B phase high-speed counting that first embodiment of the invention provides comprises micro-control unit (MCU) 10 and FPGA 20.Wherein, micro-control unit 10 has a plurality of AB phase counters, like AB phase counter 11-1 to AB phase counter 11-N.Be provided with among the FPGA 20 with micro-control unit 10 in a plurality of AB a plurality of one to one mapping counters of counter mutually, like mapping counter 21-1 among Fig. 1 to shining upon counter 21-N.
10 pairs of AB phases of micro-control unit counter carries out initialization, and when the initialization of AB phase counter, enables mapping counter corresponding with it among the FPGA 20.Counting mode of the present invention adopts down trigger; Initialization operation comprises the initialization of the AB phase counter of micro-control unit 10; Initialization like the high-speed counter attribute; And the initialization of FPGA variable, for example operation such as register zero clearing, the rising edge and the negative edge that enable input port simultaneously interrupt.PLC program start AB phase counter, the counting function that system call is corresponding confirms that according to predefined zone bit the counting multiplying power is single frequency multiplication or quadruple, the counting that enables FPGA20 compares.
Each mapping counter is counted a road in the multi-channel A B phase pulse signal, shines upon counter in the course of the work, and FPGA20 mainly carries out the identification of counting direction, and the acquisition current count value adds up.
The current count value that the mode that micro-control unit 10 employings are regularly interrupted is obtained above-mentioned a plurality of mapping counters is as multi-channel A B phase count value.
See also Fig. 2, be the module frame chart of second embodiment of the control system of PLC multi-channel A B phase high-speed counting according to the present invention.As shown in Figure 2, in the control system of the PLC multi-channel A B phase high-speed counting that second embodiment of the invention provides, micro-control unit 10 also comprises interrupt management module 12.FPGA 20 also comprises comparison module 23, two-port RAM 22 and interrupt module 24.
Wherein, two-port RAM 22 connects the micro-control unit 10 of PLC and the comparison module 23 of FPGA 20 respectively.Include a plurality of comparand registers in the two-port RAM 22, like comparand register 22-1 to 22-N.Corresponding AB phase counter of each comparand register and mapping counter.Two-port RAM 22 is according to the setting value setting of each road AB phase counter in the PLC program of the micro-control unit 10 storage value of corresponding comparand register with it.Comparison module 23 circulation is read the value of each comparand register and is compared with count value in the corresponding mapping counter from two-port RAM 22, judge whether count value reaches the value of comparand register.
The count value of mapping in the counter also can be kept in other register in the two-port RAM 22, and then will shine upon count value in the counter by two-port RAM 22 and feed back to micro-control unit 10 and the corresponding AB of this mapping counter counter mutually.
Interrupt module 24 interrupts enabling being provided with according to the interrupt table of creating in the interrupt management module 12 of micro-control unit 10, and according to interrupting enabling to be provided with and the comparative result output counting of comparison module 23 is accomplished the interrupt management module 12 of look-at-me to the micro-control unit 10 of PLC.Be provided with among the FPGA 20 with the corresponding input of each comparand register and compare OIER; Interrupt module 24 according to interrupt table to each relatively OIER interrupts enabling being provided with, the numerical value of relatively storing in the OIER has determined that whether sending counting when the count value when corresponding mapping counter reaches the value of comparand register accomplishes interruption.Interrupt module 24 sends counting and accomplishes look-at-me when the count value that this interruption comparand register has been carried out interrupting enabling being provided with and it is corresponding reaches the value of comparand register.
For example; The setting value of AB phase counter 11-1 is 1000; Then the setting value of two-port RAM 22 this AB phase counter 11-1 from the PLC program of micro-control unit 10 storages is provided with the value of corresponding with it comparand register, and the value that is about to comparand register 22-1 is made as 1000.When the count value of the accumulative total among the mapping counter 21-1 equaled 1000, comparison module 23 judged that the count value of mapping counter 21-1 has reached the value of comparand register.The interruption of this mapping counter 21-1 being carried out according to the interrupt table of creating in the interrupt management module 12 enables to be provided with, and interrupt module 24 will send counting and accomplish the interrupt management module 12 of look-at-me to the micro-control unit 10 of PLC.
This micro-control unit 10 can further include Event triggered module 13, is used for accomplishing look-at-me according to the counting that interrupt management module 12 receives and triggers predeterminable event.
See also Fig. 3, be the process flow diagram of first embodiment of the control method of PLC multi-channel A B phase high-speed counting according to the present invention.As shown in Figure 3, the PLC that adopts in the control method of this PLC multi-channel A B phase high-speed counting is as shown in Figure 1, comprises micro-control unit (MCU) 10 and FPGA 20.Wherein, micro-control unit 10 has a plurality of AB phase counters, like AB phase counter 11-1 to AB phase counter 11-N.Be provided with among the FPGA 20 with micro-control unit 10 in a plurality of AB a plurality of one to one mapping counters of counter mutually, like mapping counter 21-1 among Fig. 1 to shining upon counter 21-N.
The control method of the PLC multi-channel A B phase high-speed counting that present embodiment provides may further comprise the steps:
At first, in step S301,10 pairs of AB phases of micro-control unit counter carries out initialization, and when the initialization of AB phase counter, enables mapping counter corresponding with it among the FPGA20.
Subsequently, in step S302, each mapping counter is counted a road in the multi-channel A B phase pulse signal, obtains count value.
Subsequently, in step S303, the current count value that the mode that micro-control unit 10 employings are regularly interrupted is obtained said a plurality of mapping counters is as multi-channel A B phase count value.
The control method of PLC multi-channel A B phase high-speed counting of the present invention also can possess interrupt function.Correspondingly, the PLC that is adopted is as shown in Figure 2, also comprises interrupt management module 12 at micro-control unit.FPGA20 also comprises comparison module 23, two-port RAM 22 and interrupt module 24.Wherein, two-port RAM 22 connects the micro-control unit 10 of PLC and the comparison module 23 of FPGA 20 respectively.Include a plurality of comparand registers in the two-port RAM 22, like comparand register 22-1 to 22-N.Corresponding AB phase counter of each comparand register and mapping counter.
Therefore, in step S301, also comprise: two-port RAM 22 is according to the setting value setting of each road AB phase counter in the PLC program of the micro-control unit 10 storage value of corresponding comparand register with it.Interrupt module 24 interrupts enabling being provided with according to the interrupt table of creating in the interrupt management module 12 of micro-control unit 10.
In step S302, also comprise: comparison module 23 circulation is read the value of each comparand register and is compared with count value in the corresponding mapping counter from two-port RAM 22; Judge that whether count value reaches the value of comparand register, obtains comparative result.
In step S303, also comprise: interrupt module 24 enables to be provided with according to interruption and the comparative result output counting of comparison module 23 is accomplished the interrupt management module 12 of look-at-me to the micro-control unit 10 of PLC.Interrupt module 24 has been carried out interrupting enabling being provided with and its count value is sent terminal signaling when reaching the value of comparand register at this interruption comparand register.
For example; The setting value of AB phase counter 11-1 is 1000; Then the setting value of two-port RAM 22 this AB phase counter 11-1 from the PLC program of micro-control unit 10 storages is provided with the value of corresponding with it comparand register, and the value that is about to comparand register 22-1 is made as 1000.When the count value of the accumulative total among the mapping counter 21-1 equaled 1000, comparison module 23 judged that the count value of mapping counter 21-1 has reached the value of comparand register.Enable to be provided with according to the interruption of in the interrupt table of creating in the interrupt management module 12 this mapping counter 21-1 being carried out, interrupt module 24 will send counting and accomplish the interrupt management module 12 of look-at-me to the micro-control unit 10 of PLC.
This micro-control unit 10 can further include Event triggered module 13.The control method of above-mentioned PLC multi-channel A B phase high-speed counting can also be included in the following steps of carrying out behind the step S303: the counting by Event triggered module 13 receives according to interrupt management module 12 is accomplished look-at-me triggering predeterminable event.
To sum up; The present invention adopts micro-control unit and FPGA to realize PLC multi-channel A B high-speed counting function mutually; Micro-control unit is mainly accomplished the initialization and the configuration of counter and system, and the AB phase high-speed counting variable of initialization AB phase counter and the variablees such as register of FPGA start AB phase counter and corresponding mapping counter; And enable the interruption such as rising edge and negative edge of input port, obtain current count value as AB phase count value; The used interruption of enablement count in addition, and the counting that captured in real time FPGA sends is accomplished look-at-me, the incident that triggering is set, and closed normally opened contact, disconnection normally closed contact.Technical scheme controlling schemes of the present invention is simple, and it is few to take resource, can realize the counting of multi-channel A B phase effectively; Even can reach tens the tunnel; Broken through the restriction that no more than 2 road AB of general PLC count mutually, and to the not restriction of total count frequency, counting mode and implementation are simple and reliable; Have excellent counting properties and good counting stability, fully satisfied the requirement of multiaxis control in the practical application.
The present invention describes according to specific embodiment, but it will be understood by those skilled in the art that when not breaking away from the scope of the invention, can carry out various variations and be equal to replacement.In addition, for adapting to the specific occasion or the material of the present invention's technology, can carry out many modifications and not break away from its protection domain the present invention.Therefore, the present invention is not limited to specific embodiment disclosed herein, and comprises that all drop into the embodiment of claim protection domain.
Claims (6)
1. the control system of a PLC multi-channel A B phase high-speed counting; It is characterized in that; Comprise micro-control unit and FPGA, said micro-control unit has a plurality of AB phase counters, be provided with among the said FPGA with said micro-control unit in a plurality of AB a plurality of one to one mapping counters of counter mutually;
Said micro-control unit is to the initialization of AB phase counter; And when the initialization of AB phase counter, enable among the FPGA corresponding with it mapping counter; Each mapping counter is counted a road in the multi-channel A B phase pulse signal, and the current count value that the mode that said micro-control unit employing is regularly interrupted is obtained said a plurality of mapping counters is as multi-channel A B phase count value.
2. the control system of PLC multi-channel A B phase high-speed counting according to claim 1 is characterized in that said micro-control unit also comprises the interrupt management module, and said FPGA also comprises comparison module, two-port RAM and interrupt module;
Wherein said two-port RAM connects the micro-control unit of PLC and the comparison module of FPGA respectively; Include a plurality of comparand registers in the said two-port RAM; Corresponding AB phase counter of each comparand register and mapping counter, said two-port RAM is according to the setting value setting of each road AB phase counter in the PLC program of the said micro-control unit storage value of corresponding comparand register with it; The circulation of said comparison module is read the value of each comparand register and is compared and judge whether count value reaches the value of comparand register with count value in the corresponding mapping counter from said two-port RAM;
Said interrupt module is used for interrupting enabling being provided with according to the interrupt table of interrupt management module creation, and accomplishes the interrupt management module of look-at-me to the micro-control unit of said PLC according to the comparative result output counting that said interruption enables to be provided with said comparison module.
3. the control system of PLC multi-channel A B phase high-speed counting according to claim 2 is characterized in that said micro-control unit also comprises the Event triggered module, and the counting that is used for receiving according to said interrupt management module is accomplished look-at-me and triggered predeterminable event.
4. the control method of a PLC multi-channel A B phase high-speed counting; It is characterized in that; Said PLC comprises micro-control unit and FPGA, and said micro-control unit has a plurality of AB phase counters, said FPGA be provided with said micro-control unit in a plurality of AB a plurality of one to one mapping counters of counter mutually; Said method comprising the steps of:
A) said micro-control unit carries out initialization to AB phase counter and enables mapping counter corresponding with it among the FPGA;
B) each mapping counter is counted a road in the multi-channel A B phase pulse signal, obtains count value;
C) said micro-control unit adopts current count value that the mode of regularly interrupting obtains said a plurality of mapping counters as multi-channel A B phase count value.
5. the control method of PLC multi-channel A B phase high-speed counting according to claim 4 is characterized in that said micro-control unit also comprises the interrupt management module, and said FPGA also comprises comparison module, dual-port block RAM and interrupt module; Wherein said dual-port block RAM connects the micro-control unit of PLC and the comparison module of FPGA respectively; Include a plurality of comparand registers in the said two-port RAM, corresponding AB phase counter of each comparand register and mapping counter;
Also comprise in the said step a): said two-port RAM is according to the setting value setting of AB phase counter in the PLC program of the said micro-control unit storage value of corresponding comparand register with it, and said interrupt module interrupts enabling being provided with according to the interrupt table of interrupt management module creation;
Also comprise in the said step b): the circulation of said comparison module is read the value of each comparand register and is compared and judge whether count value reaches the value of comparand register with count value in the corresponding mapping counter from said two-port RAM;
Also comprise in the said step c): said interrupt module is accomplished the interrupt management module of look-at-me to the micro-control unit of said PLC according to the comparative result output counting that said interruption enables to be provided with said comparison module.
6. the control method of PLC multi-channel A B phase high-speed counting according to claim 5; It is characterized in that; Said micro-control unit also comprises the Event triggered module, and said method comprises that also the Event triggered module triggers predeterminable event according to the counting completion look-at-me that the module of interrupt management described in the step c) receives.
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| CN2012100615613A CN102681477A (en) | 2012-03-09 | 2012-03-09 | System and method for controlling high-speed counting of multiple AB phases of PLC (programmable logic controller) |
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| CN107340752A (en) * | 2016-04-28 | 2017-11-10 | 发那科株式会社 | The control device of lathe |
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Application publication date: 20120919 |